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Added prior on the first pose in time*OnDataset

release/4.3a0
Richard Roberts 2010-11-19 16:30:06 +00:00
parent f1a2819d6d
commit 4e0b4021df
2 changed files with 6 additions and 0 deletions
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3
tests/timeMultifrontalOnDataset.cpp
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@ -35,6 +35,9 @@ int main(int argc, char *argv[]) {
pair<shared_ptr<Pose2Graph>, shared_ptr<Pose2Values> > data = load2D(dataset(datasetname)); pair<shared_ptr<Pose2Graph>, shared_ptr<Pose2Values> > data = load2D(dataset(datasetname));
// Add a prior on the first pose
data.first->addPrior(0, Pose2(), sharedSigma(Pose2::Dim(), 0.0005));
tic_("Z 1 order"); tic_("Z 1 order");
Ordering::shared_ptr ordering(data.first->orderingCOLAMD(*data.second)); Ordering::shared_ptr ordering(data.first->orderingCOLAMD(*data.second));
toc_("Z 1 order"); toc_("Z 1 order");

3
tests/timeSequentialOnDataset.cpp
View File

@ -35,6 +35,9 @@ int main(int argc, char *argv[]) {
pair<shared_ptr<Pose2Graph>, shared_ptr<Pose2Values> > data = load2D(dataset(datasetname)); pair<shared_ptr<Pose2Graph>, shared_ptr<Pose2Values> > data = load2D(dataset(datasetname));
// Add a prior on the first pose
data.first->addPrior(0, Pose2(), sharedSigma(Pose2::Dim(), 0.0005));
tic_("Z 1 order"); tic_("Z 1 order");
Ordering::shared_ptr ordering(data.first->orderingCOLAMD(*data.second)); Ordering::shared_ptr ordering(data.first->orderingCOLAMD(*data.second));
toc_("Z 1 order"); toc_("Z 1 order");